A modular unmanned aerial vehicle system for adaptable parcel delivery

ABSTRACT

A modular unmanned aerial vehicle (UAV) system comprises a body module, a rotor module, and a wing module. The body module includes a flight controller and a power distribution device. The body module is releasably attachable to the rotor module or the wing module, and the body module is releasably attachable to the rotor module. The rotor module includes one or more motors and electronic speed controllers (ESCs), while the wing module includes a wing having a flap, elevator, aileron, or rudder. Various UAV configurations can be formed from the body module, the rotor module, and the wing module. Each configuration includes different advantages for flight time, distance, battery life, and payload capacity. A UAV can be configured to a particular configuration to optimize parcel delivery.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.17/216,916, filed Mar. 30, 2021, and entitled “A Modular Unmanned AerialVehicle System for Adaptable Parcel Delivery,” which claims priority toU.S. Provisional Application No. 63/004,283, filed Apr. 2, 2020, andentitled “A Modular Unmanned Aerial Vehicle System for Adaptable ParcelDelivery,” each of which is expressly incorporated by reference in itsentirety.

BACKGROUND

Parcel delivery has historically used ground-based delivery vehicles.Aerial-based delivery has historically included moving a large number ofparcels using a manned aircraft to an intermediate destination, wherethe parcels are divided into groups and then delivered using traditionalground-based delivery vehicles. Only recently, with the introduction ofsmaller unmanned aerial vehicles (UAVs), has parcel delivery includedusing unmanned aerial-based delivery methods for delivering parcels to afinal destination.

SUMMARY

At a high level, aspects described herein relate to a modular UAVsystem. One example modular UAV system, among others that will befurther described, comprises a body module, a rotor module, and a wingmodule. The body module includes a battery area, and on-board computingsystem, a power distribution device, and can include all or part of themodular UAV's landing gear and parcel carrier. The body module isreleasably attachable to a rotor module or a wing module, where therotor module includes one or more motors and ESCs, while the wing moduleincludes a wing having an airfoil. In other example configurations, therotor module and the wing module may also have their own battery area,onboard computing system, and power distribution device, or anycombination of these. In various configurations, the rotor module andthe wing module act as components of a bigger UAV system, or may operateindependently as fully operative UAVs.

Using these system components, various UAV configurations can be formed.In a configuration, the body module is secured to the rotor module.Here, the UAV acts as a typical helicopter or multirotor vehicle,allowing it to take advantage of vertical takeoff and landing (VTOL) andbetter maneuverability in smaller or obstructed areas. The body modulecan be secured to rotor modules of various sizes to include payloadcapacity. In another configuration, the body module is secured to thewing module, allowing the UAV to take on forward flight advantages, suchas distances and reduced power demands. Another arrangement includes thebody module, the rotor module, and the wing module, which providesbenefits from both designs.

This summary provides one example of the technology that will bedescribed, and it is intended to introduce only a selection of conceptsin a simplified form that is further described in the DetailedDescription section of this disclosure. The Summary is not intended toidentify key or essential features of the claimed subject matter, nor isthe Summary intended as an aid in determining the scope of the claimedsubject matter. Additional objects, advantages, and novel features ofthe technology will be set forth in part in the description thatfollows, and in part will become apparent to those skilled in the artupon examination of the disclosure or learned through practice of thetechnology.

BRIEF DESCRIPTION OF THE DRAWINGS

The present technology is described in detail below with reference tothe attached drawing figures, wherein:

FIG. 1 is an example modular UAV system operating environment, inaccordance with an aspect described herein;

FIGS. 2A-2C illustrate example modules of an example modular UAV system;in accordance with an aspect described herein;

FIGS. 3A-3C illustrate example configurations formed from modules of anexample modular UAV system, in accordance with an aspect describedherein;

FIG. 4 illustrates an example flight arrangement using a plurality ofUAVs, in accordance with an aspect described herein;

FIG. 5 illustrates an example flight method using a UAV, in accordancewith an aspect described herein;

FIG. 6 illustrates an example modular UAV system for use with an examplecargo container, in accordance with an aspect described herein;

FIG. 7 is a flow diagram illustrating an example method that can beperformed using embodiments of a modular UAV system, in accordance withan aspect described herein;

FIG. 8 is a flow diagram illustrating another example method that can beperformed using embodiments of a modular UAV system, in accordance withan aspect described herein; and

FIG. 9 illustrates an example computing device suitable for use with thedisclosed technology; in accordance with an aspect described herein.

DETAILED DESCRIPTION

Traditional UAVs are designed to operate as a single unit. That is, UAVshistorically include an area that houses an on-board computing systemand a power distribution device. This area is generally integrated intoa frame. The frame also includes arms having motors attached at theopposite end of the frame arms. Some of these UAVs also include wingsfor forward flight.

These conventional UAV systems are not designed to include a modularframework having various interchangeable and scalable modules that allowfor different configurations of the UAV. Thus, when using conventionalUAVs, different UAVs are sometimes required to accomplish differenttasks. In particular, when delivering parcels using UAVs, a conventionalUAV is selected based on its range and payload capacity when tasked withdelivering a parcel, since the weight, size, and delivery location willvary for each parcel.

This leads to a problem when using UAVs to deliver parcels, particularlywith the last-mile delivery scenario. Here, it is generally not feasibleto select from various available UAV options when tasked with making adelivery. For example, when a UAV is used in conjunction with a grounddelivery vehicle, it is not feasible to transport different UAVs fordifferent scenarios. Likewise, at a facility, storing different types ofUAVs uses a large amount of space, and it limits the number of UAVs ofone type that can be maintained and used at any given time.

To solve these and other problems in the field, the technology providedherein describes a modular UAV system that is adaptable to variousdelivery scenarios, including parcel size, weight, and deliverydistance. One example modular UAV system comprises a body module, arotor module, and a wing module. The body module comprises a batterylocation, a power distribution device, and an onboard computing system,such as a flight controller. The body module also comprises navigationsensors for the UAV system, which communicate to the onboard computingsystem. Each of these components can be provided within a body housing.

The body module is releasably attachable to the rotor module or the wingmodule. The body module housing comprises a body connection member thatis releasably attachable to a rotor connection member of the rotormodule. The rotor module comprises a rotor connection hub that includesthe rotor connection member. The rotor connection hub comprises armsextending from the rotor connection hub to motors. The rotor modulefurther comprises electronic speed controllers (ESCs) controlling themotors. ESCs are in communication with the power distribution device andthe on-board computing device through a releasable cable connectorlocated at the body connection member and the rotor connection member.

The rotor module is releasably attachable to the wing module using asecond rotor connection member at the rotor connection hub and a wingconnection member at the wing module. The wing module comprises a wingthat assists in forward flight of the modular UAV system through anairfoil. Various wing components are operable through communication withthe on-board computing device of the body module. A releasable cableconnector is provided at the second rotor connection member and the wingconnection member to establish this communication when the wing moduleis secured to the rotor module.

The wing module is further releasably attachable to the body moduleusing the wing connection member and the body connection member.Communication from the on-board computing device at the body module isestablished to the wing components of the wing module through areleasable cable connector provided at the wing connection member andthe body connection member.

Thus, the modular UAV system can be arranged in multiple configurationsfor optimal parcel delivery. A configuration includes the body modulesecured to the rotor module. Another configuration includes the bodymodule member directly secured to the wing module. Yet anotherconfiguration includes the body module secured to the rotor module, andthe rotor module being secured to the wing module.

Various arrangements provide different advantages, thus making themodular UAV systems adaptable to solve many of these problems. Forexample, some rotor modules include larger motors relative to otherrotor modules. This allows larger motors to be easily selected forlarger payload capacities, and smaller motors to be selected with lowerpayload capacities, which reduces power demands and increases range.Wing components of various lengths can be added to the arrangement togain the advantage of forward flight lift, which reduces powerrequirements and increases range, while trading off low-altitude,low-speed maneuverability. Any combination of these components can beselected to provide advantages specific to a particular parcel delivery.

Turning now to FIG. 1 , an example unmanned UAV system operatingenvironment (“operating environment”) 100 is illustrated. As shown,operating environment 100 includes UAV 102, on-board computing system104, and server 106. Each communicates using network 108.

Network 108 encompasses any form of wired or wireless communication.This can include one or more networks, such as a public network orvirtual private network “VPN.” Network 108 may include one or more localarea networks (LANs) wide area networks (WANs), or any othercommunication network or method. Network 108 includes any frequency bandfor wireless communication between components. Network 108 is intendedto include any method for wireless communication, includingsatellite-based communication methods or any other over-the-horizon-typecommunication methods, such as telecommunication bands (LTE, 4G, 5G,etc.).

UAV 102 illustrates one example of a modular UAV system, and includesany of the modular UAV systems described herein. While illustrated asone UAV, UAV 102 may represent a plurality of UAVs. Further, although itis illustrated here and throughout as a four-rotor VTOL aircraft, UAV102 may include any number of rotors, such as a single rotor helicopteror another configuration of multirotor vehicle, or may be embodied as afixed-wing aircraft, or some combination of both.

UAV 102 may comprise one or more sensors to assist in navigation andparcel delivery. Generally, sensors collect data and communicate thedata to onboard computing device 104 or server 106.

Some examples sensors include barometers that measure air pressure;accelerometers that determine changes in position and movement; GPS (orany other satellite-based system) receiver that determines orcommunicates location, altitude, position, velocity, among other items;magnetometers that determine heading; range finders that determine adistance between two objects, including UAV 102, and include lasers,sonar, and the like; optical cameras that collect visual information,and receivers that receive wireless information, such as flightinstructions or commands. These are only some examples, since it isimpractical to describe every usable sensor, and it will be recognizedthat the inventors intend usability of any sensor.

Sensors may be coupled to any of the modules described herein or may beattached to sensor sockets in each of the modules (wing module, rotormodule or body module.) When releasably attached to a module, the sensorcan be automatically identified and enabled by the central computingunit and selectively powered from any available battery, located on anyof the modules. This allows for an efficient payload management of theUAV by onboarding only those sensors required for each mission.

Sensors may operate to determine information individually or incombination with other sensors. These sensors may work in conjunctionwith software programs and computing systems to, among other things,engage in obstacle avoidance to increase UAV safety, navigate UAV 102 toa location autonomously or under the assistance of a human pilot,release and pickup parcels for delivery, and identify or confirm theidentity of a recipient or sender. In one particular example, sensorsthat do not collect visual information can be used to perform any ofthese functions to preserve the privacy of recipients and senders whenusing UAVs to deliver parcels.

UAV 102 comprises on-board computing device 104. An example of on-boardcomputing device 104 includes a flight controller. Various flightcontrollers are available for use with UAV 102. One of ordinary skill inthe art will have an understanding of the availability and benefits ofsuch flight controllers.

Though represented as a single component, on-board computing device 104can be distributed in nature. That is, one or more functions may beperformed by a single component or by a plurality of componentsdistributed throughout UAV 102. On-board computing device 104 generallyincludes a processor that executes instructions stored on computermemory. An example includes computing device 900 of FIG. 9 .

On-board computing device 104 may comprise or communicate with sensorsutilized by UAV 102. For example, on-board computing device 104 receivesinput signals from a receiver, processes the input signals, and thencommunicates instructions to various components of UAV 102, such thatthe UAV operates in accordance with the input signals. For example,on-board computing device 104 may release or retrieve parcels using aparcel carrier based on received sensor information or other remotelyreceived instructions.

On-board computing device 104 may include pre-programmed instructions inaddition to processing received input instructions. An example includesdefault safety instructions that are executed upon detecting a certainevent. For example, on-board computing device 104 can navigate UAV 102to a defined location in the event communication signals are lost ordamage is detected; it may execute safety mechanisms, such asparachutes, if certain altitude inputs are received or if battery powerdepletes below safe levels; it may maneuver UAV 102 to avoid obstacles,such as aircrafts, buildings, and people, or execute any other safetyprotocol in response to an event.

UAV 102 may comprise ESCs. Electronic speed controllers generallyregulate the speed and spin direction for electric motors. Electronicspeed controllers receive an input signal from on-board computing device104 and adjust the electric motors of UAV 102 accordingly. An ESC can beprovided for each motor included in UAV 102. The ESCs can beconsolidated into a single component or distributed about UAV 102. Theymay be independent from or integrated with on-board computing device104.

Motors can include any type of electric motor or non-electric poweredmotor. However, generally, an electric motor is used in combination withthe ESCs. Electric motors may include brushed direct current (DC) motorsor brushless DC motors. Motor size may vary to provide greater levels ofthrust for UAV 102, thereby increasing payload capacity. Generally, anincrease in motor size increases the amount of current the motor willdraw. This places higher demands on ESCs. As such, ESC selection isdependent on motor size, and may further be dependent on propeller size,battery voltage and UAV weight, including a load, such as a parcel.

UAV 102 may comprise a power distribution device that distributes powerfrom a battery, or other power source 207, to the various components ofUAV 102, such as sensors, ESCs, and on-board computing device 104. Thepower distribution device may be a single component, or integrated intoa component that includes ECSs and on-board computing device 104.

Server 106 generally includes a computing device that is not integratedonto UAV 102, but may remotely communicate to UAV 102 and on-boardcomputing device 104 using network 108, for example, by wirelesslytransmitting to a receiver on-board UAV 102. Server 106 may include asingle server having a processor and memory, or a plurality ofdistributed servers. One example server suitable for use is computingdevice 900 of FIG. 9 .

Server 106 can include a logistics server that remotely providesdelivery instructions to UAV 102 to release or retrieve a parcel. Server106 can provide navigation information to on-board computing device 104,such as a delivery coordinate or route instructions, where on-boardcomputing device 104 navigates UAV 102 to the received deliverycoordinate or along the instructed route. Server 106 may operate todirectly control the navigation of UAV 102 by determining and providinginstructions automatically, by receiving inputs from a human operatorand communicating the received inputs to UAV 102, or a combination ofboth. Additionally, server 106 is operable to control more than one UAV.In a specific example embodiment, server 106 may control up to ten UAVssimultaneously.

Turning now to FIGS. 2A-C, example modules of an example modular UAVsystem are illustrated. Starting with FIG. 2A, body module 200 isprovided. Body module 200 comprises body housing 202.

Various arrangements of components exist with respect to the modular UAVsystem. One example arrangement includes a power distribution device andan on-board computing device disposed within body housing 202.

Transmitting and receiving components used for communication can belocated within body housing 202 or external to body housing 202, and arein communication with the on-board computing device within body housing202.

In some cases, body housing 202 comprises material transparent tocommunication frequencies utilized by network 108 of FIG. 1 ,particularly where communication receivers are located within bodyhousing 202. In an arrangement, communication transmitters on-board maybe located externally to body housing 202, and body housing 202 materialmay be selected to be opaque or near opaque to the transmitted frequencyso as not to interfere with other components included in body housing202.

Body housing 202 can comprise a battery area so that a battery may besecured on or within body housing 202. In another arrangement, batteryarea can be an external portion of body housing 202. The battery may befixed within the battery area or releasably secured to the battery area.When fixed, a charging port may be utilized. While when releasable, thebattery may be charged while secured to the battery area or chargedseparately when detached from the battery area.

While not illustrated on body module 200, body module 200 may includelanding gear or a parcel carrier, which in some cases, is combined intoa single component.

As illustrated in FIG. 2A, body housing 202 comprises first body housingside 204 and second body housing side 206. Body connection member 208 isincluded on first body housing side 204. While body connection member208 is illustrated as a separate component, body connection member 208can also be integrated into first body housing side 204.

Generally, body connection member 208 comprises all or part of areleasable mechanism. As shown in FIG. 2A, body connection member 208 isa track that is part of a track-and-rail lock system. Any releasablemechanism may be used, in addition to or in lieu of the track-and-raillock system. Releasable mechanisms include a first portion that securesto a second portion, such that the first and second portions arereleased using a particular action. Some additional examples includechannel locking systems, tension locks, bolt systems, electronic locks,spring lock systems, magnetic locking systems, slide locks systems,clamps, ball locks, threaded locking systems, and male-female lockingsystem, among others.

Body module 200 additionally comprises first releasable cable connectionjoint 210. As illustrated, first releasable cable connection joint 210is shown located at body connection member 208. Generally, however,first releasable cable connection joint 210 can be located at any pointon body module 200. In another example, first releasable cableconnection joint 210 is located on first body housing side 204 and isnot integrated with body connection member 208. In another example,first releasable cable connection joint 210 is external to body housing202 and communicates with components within body housing 202 using ahardwired communication channel.

First releasable cable connection joint 210 comprises all or part of areleasable cable connection system. Generally, releasable cableconnection systems include first and second connection members that,when connected, allow communication between a cable associated with thefirst connector and a cable associated with the second connector. Cablesinclude any physical communication channel, such as copper wire, fiberoptic cable, and the like. Some example cable connection systemssuitable for use include snap connectors, screw connectors, clickconnectors, push connectors, pin-and-socket connectors, and male-femaleconnectors, among others.

FIG. 2A additionally illustrates rotor module 212. Rotor module 212comprises rotor connection hub 214 that has a first hub side 216 and asecond hub side 218. Second hub side 218 is opposite first hub side 216.

Rotor connection hub 214 is coupled to a plurality of motors, such asmotor 222. The motors may be coupled to rotor connection hub 214 using aplurality of arms that extend outward at a first end from rotorconnection hub 214 to a second end. The motors can be coupled to thesecond ends of the arms, such as the aspect illustrated in FIG. 2A,having arm 220 extending outward from rotor connection hub 214 from afirst end toward a second end having motor 222 with propeller 224. Ingeneral, rotor module can include any number of motors or propellers,which are recognized automatically by the connection hub which is ableto adjust flight parameters accordingly. For example, rotor module maybe in the configuration of a helicopter, having one propeller or motor,or may include a plurality of propellers and motors in any arrangement,and each of these propellers and motors are automatically recognized bythe connection hub which can adjust flight parameters for the motors andpropellers.

Rotor connection hub 214 of rotor module 212 can be configured toreceive various arms having different lengths at arm sockets provided onrotor connection hub 214, not illustrated. The number of arms and rotorscan be scaled up or down by adding or removing components (arms withrotors and ESCs) into these sockets. For instance, rotor connection hub214 may be equipped with eight arm socket. In such case, any number ofarms may be attached to the sockets to enable flight. For instance,three, four, or six arms can be inserted into various sockets, providingdifferent configurations that enable flight using the three, four, orsix arms. As will be recognized, any number of sockets and armarrangements may be used. In some cases, each of the arms areautomatically identified and enabled by the central computing unit andpowered from the rotor module battery or the body module batteryselectively.

Rotor module 212 can comprise ESCs. Rotor module 212 can comprise aplurality of ESCs, where each motor of rotor module 212 is associatedwith one of the plurality of ESCs. In this example arrangement, it canbe beneficial to provide the ESC s at rotor module 212 so that the ESCscan be preselected based on motor size. Thus, a particular rotor modulecan be selected based on payload requirements, where rotor moduleshaving larger motors can be selected when greater payload capacity isrequired for delivering a parcel. Likewise, when less payload capacityis required, a different rotor module can be selected with smallermotors. By having the ESCs at the rotor module, the ESCs do not have tobe changed when switching between rotor modules having different motorsizes. In another embodiment, rotor module 212 operates independently,as will be further discussed.

As illustrated in FIG. 2A, rotor module 212 comprises landing gear andparcel carrier 226. Landing gear and parcel carrier 226 is shown as asingle component, but may be embodied as multiple components in someconfigurations. Although shown coupled to rotor module 212, landing gearand parcel carrier 226 may be coupled to any other component of amodular UAV system, including being distributed in parts among differentcomponents or modules of the modular UAV system.

Rotor module 212 is further illustrated as comprising first rotorconnection member 228. First rotor connection member 228 is coupled tofirst hub side 216. While first rotor connection member 228 is shown asa separate component, it may be integrated into first hub side 216 orrotor module 212 as a single element.

First rotor connection member 228 comprises all or a part of areleasable mechanism, such as those previously described. As shown,first rotor connection member 228 comprises a rail of the track-and-railsystem. First rotor connection member 228 may comprise a first part of areleasable mechanism that releasably couples to a second part of thereleasable mechanism that forms body connection member 208 of bodymodule 200.

Rotor module 212 can be releasably secured to body module 200. In theexample provided by FIG. 2A, rotor module 212 is releasably secured tobody module 200 by coupling the rail of first rotor connection member228 to the track of body connection member 208, illustrated using firstarrow 252.

Rotor module 212 additionally comprises second releasable cableconnection joint 230. Second releasable cable connection joint 230comprises all or part of a releasable cable connection system, such asthose previously described. While second releasable cable connectionjoint 230 is illustrated as part of first rotor connection member 228,it can be placed at any location on rotor module 212.

When rotor module 212 is secured to body module 200, communication canbe established between components of rotor module 212 and body module200 by connecting first releasable cable connection joint 210 to secondreleasable cable connection joint 230. Thus, continuing with a previousexample, ESCs of rotor module 212 communicate with a battery located inthe battery area of body module 200 using the power distribution device,and communicate with the on-board computing device within body housing202.

Turning now to FIG. 2B, a different orientation of rotor module 212 isillustrated. Rotor module 212 comprises rotor connection hub 214 thathas second hub side 218. First hub side 216 is opposite second hub side218. For reference, FIG. 2B also illustrates arm 220, motor 222, andpropeller 224 of rotor module 212.

Second hub side 218 is shown comprising second rotor connection member232. Though shown as a separate component, second rotor connectionmember 232 may be a single component integrated with second hub side218. Second rotor connection member may be all or part of a releasablemechanism, such as those previously described. As shown in the exampleprovided by FIG. 2B, second rotor connection member 232 is a track ofthe track-and-rail connection system.

Second hub side 218 further comprises third releasable cable connectionjoint 234. Third releasable cable connection joint 234 comprises all orpart of a releasable cable connection system, such as those previouslydescribed. As illustrated, third releasable cable connection joint 234is shown integrated with second rotor connection member 232. However,releasable cable connection joint 234 may be placed anywhere on rotormodule 212.

FIG. 2B further illustrates example wing module 236. Wing module 236comprises wing 238. As illustrated, wing module 236 comprises more thanone wing. However, wing modules suitable for use in this technology mayinclude any number of wings, including a single wing, two wings, or morethan two wings. Each of these wings can include any combination of wingcomponents, as will be discussed. In further embodiments, the wings mayhave variable configurations capable of changing shape and angle basedon the current or desired speed.

Wing module 236 can be configured to receive a variety of wings and wingcomponents that releasably secure to wing module 236. Recessed socketsat wing module 236 can be configured to receive a correspondingextension on a wing. In this way, wing module 236 can be outfitted witha variety of wings of different sizes and designs, which allow for moreadvanced UAV configurations. Benefits from these systems include theability to easily and rapidly adjust a modular UAV's Maximum Take OffWeight, payload capacity, speed, range, and the like to tailor it tospecific needs.

Wing module 236 can be configured to receive various wings havingdifferent designs, such as type, size, length, etc. of the wing. Thevarious wing designs can be interchangeable added to wing module 236 atwing sockets provided on wing module 236, not illustrated. The number ofwings can be scaled up or down by adding or removing components (wingwith rotors and ESCs) into these wing sockets. For instance, wing module236 may be equipped with four wing socket. In such cases, any number ofwings may be attached to the wing sockets to enable flight. Forinstance, two or four wings can be inserted into various sockets,providing different configurations that enable flight. The wing socketsmay be in pre-determined locations so as to receive different wing typesthat require specific positions on wing module 236. As will berecognized, any number of wing sockets in various configurations. Insome cases, each of the wings are automatically identified and enabledby the central computing unit and powered from the wing module batteryor the body module battery selectively.

A flight controller housed within wing module 236 or any other module,can identify a particular type of wing, including size and design, suchas number and type of available motors and sensors attached, batterysize and charge status (if one is present), and wing design. Forinstance, a particular wing can comprise storage media storingcomputer-readable information that identifies the wing, including sizeand design. It may include other specifications regarding the wing, suchas weight, lift capacity, component configurations (flaps, elevators,ailerons, rudder, etc.), type and number of motors, and the like. Whenthe wing is connected to wing module 236, a communication bus can bephysically connected to establish communication between the wing'sstorage media and the flight controller, allowing the flight controllerto identify the wing and its specifications. In another embodiment,wireless communication between the wing and wing module 236 can be usedto transfer information about the wing. Upon identifying the wing andits specifications, the flight controller may reconfigure flightparameters according to the weight, power, type and number of wings,type and number of motors, and so on, so that the flight controlleradjusts the modular UAVs behavior accordingly. For example, if smallerwings are replaced with relatively larger wings, the flight controlleridentifies the larger wings and adjust to the different drag and glidingcharacteristics, as well as the different wing components.

Wing 238 comprises a first wing side 240 opposite a second wing side242. In this example, first wing side 240 is an upper surface of wing238 and second wing side 242 is a lower surface of wing 238 when thewing is in a flight position.

While not illustrated in the example embodiment provided by FIG. 2B,wing module 236 may comprise a motor and propeller combination, or aplurality of motors and propeller combinations. The motor and propellercombination may also be used in conjunction with wing modules thatoperate independently, as will be further described. This allows wingmodule 236 to engage in flight without the assistance of rotor module212 and to assist in flight when secured to rotor module 212. In someembodiments, the motor and propeller combination used by wing module 236is releasably secured to wing module 236 so that it can easily beremoved and replaced, or any variation or number can be included in anyconfiguration. The removable motor and propeller combination maycomprise specifications that are the same as motor 222 and propeller 224of rotor module 212, which may also be removably secured to rotor module212. Thus, the motor and propeller combination of wing module 236 may beinterchangeable with motor 222 and propeller 224 of rotor module 212.

Wing 238 comprises wing connection member 244, which is coupled tosecond wing side 242. While wing connection member 244 is shown as aseparate component, wing connection member 244 may be integrated intowing 238 in some cases. Wing connection member may be all or part of anyreleasable mechanism, such as those previously described. In FIG. 2B,wing connection member 244 is shown as a rail of the track-and-railsystem.

Wing module 236 can be releasably secured to rotor module 212. In FIG.2B, wing module 236 is releasably secured to rotor module 212 bycoupling the rail of wing connection member 244 to the track of secondrotor connection member 232, which is illustrated using second arrow248.

Wing module 236 additionally comprises fourth releasable cableconnection joint 246. Fourth releasable cable connection joint 246comprises all or part of a releasable cable connection system, such asthose previously described. While fourth releasable cable connectionjoint 246 is illustrated as part of wing connection member 244, it canbe placed at any location on wing module 236.

When wing module 236 is secured to rotor module 212, communication canbe established between components of wing module 236 and rotor module212 by connecting third releasable cable connection joint 234 to fourthreleasable cable connection joint 246. In this way, components of wingmodule 236 (such as flaps, elevators, ailerons, rudder, etc.) canestablish communication with components of rotor module 212 and withcomponents of body module 200, when body module 200 and rotor module 212are connected using first releasable cable connection joint 210 andsecond releasable cable connection joint 230. In an embodiment, wingmodule 236 is configured to operate independently, as will be furtherdescribed.

It will be understood that the modules provided in FIGS. 2A-2C areexamples. Other modular configurations are suitable for use with aspectsof the present technology. In a particular example, rotor modules andwing modules are each independently operable. That is, a rotor module inthis example includes components that allow the rotor module to operateindependently, meaning that the rotor module, without the support ofother modules, can engage in flight to deliver a parcel. For example,the rotor may include any combination of a battery location having abattery connection member or a battery, flight controller, powerdistribution device, communication transmitter and receiver, a parcelcarrier that transports the parcel during flight, and the like.

Similarly, in this example, the wing module can also be independentlyoperable. Here, the wing module may also include components that allowit to operate without the support of other modules to deliver a parcel.That is, the wing module includes any combination of a battery locationhaving a battery connection member or a battery, flight controller,power distribution device, communication transmitter and receiver, aparcel carrier, and the like.

In an example, the independently operable wing module and rotor modulecan each carry a cargo container. The cargo container may also beutilized with any other embodiment of the technology. For instance, thecargo container can be used with modules, such as the wing module, rotormodule, and body module, when the modules work in conjunction with oneanother or independently of one another. The cargo container providesadditional protection for the parcel by encasing the parcel, at leastpartially or fully, within the cargo container.

In one example, the cargo container includes a battery for use by thewing module or the rotor module. In this way, a parcel can be preloadedinto the cargo container along with a charged battery. This isbeneficial for rapidly reloading parcels for delivery. Since batterypower is depleted during delivery of a parcel, the inclusion of thebattery in the cargo container allows one or more of the modules to besimultaneously loaded with a new parcel and a charged battery, thereforeallowing the one or more modules to be immediately available fortransport of a second parcel.

The cargo container can be secured to the rotor module, the wing module,or the body module. The cargo container can be used with anyconfiguration of these modules, or with an independently operablemodule. A track and rail system is one example system suitable for usein securing the cargo container to any of the UAV modules. However, anyother securing system described herein can be utilized. One examplecargo container suitable for use will be further described in moredetail with reference to FIG. 6 .

It will be understood that, in some configurations of modules, multiplebatteries will be employed. For instance, a battery can be included inthe cargo container, within a body module, the rotor module, the wingmodule, or in any combination. In such configurations, a flightcontroller can be employed to balance power between each of thebatteries so that each is utilized equally. In another example, theflight controller draws power from one particular battery, so as toconserve battery power in other batteries.

Turning now to FIG. 2C, which illustrates yet another exampleconfiguration of the modular UAV system. Here, wing module 236 is beingsecured to body module 200 using wing connection member 244 and secondrotor connection member 232, as illustrated by third arrow 250.Communication is established from components of wing module 236 tocomponents of body module 200 by connecting first releasable cableconnection joint 210 to fourth releasable cable connection joint 246.Thus, for example, flaps, ailerons, rudder, etc. of wing module 236 cancommunicate with and receive instructions from an on-board computingdevice within body housing 202.

Although first through fourth releasable cable connection joints (210,230, 234, 246) are shown as a single unit, each may comprise variouscables, for example, a power cable from the power distribution device tothe ESCs may be different than the communication cables from an on-boardcomputing device to the ESCs. These may each connect using a single unitor may connect through various units. All of which are intended to bewithin the scope of first through fourth releasable cable connectionjoints (210, 230, 234, 246). Further, while each of first through fourthreleasable cable connection joints (210, 230, 234, 246) are shownlocated on or integrated with their respective components, first throughfourth releasable cable connection joints (210, 230, 234, 246) may belocated external to each of these components and communicate using acable. For example, first releasable cable connection joint 210 may belocated external to body housing 202 and communicate to componentswithin body housing 202, such as on-board computing device, etc., usinga cable. Likewise, this can apply to any of fourth releasable cableconnection joints (210, 230, 234, 246).

Turning now to FIGS. 3A-3C, example configurations formed from modulesof an example modular UAV system are provided. Each of theseconfigurations may be formed by the modular UAV system provided in FIGS.2A-2C. Each of the modules can host any combination of componentsdescribed herein, including components that allow each module to operateindependently.

FIG. 3A illustrates first configuration 300 of the modular UAV system.Here, body module 302 is releasably secured to rotor module 304. Rotormodule 304 is further releasably secure to wing module 306.

FIG. 3B illustrates second configuration 308 of the modular UAV system.Here, body module 302 is releasably secured to rotor module 304.

FIG. 3C illustrates third configuration 310 of the modular UAV system.Here, body module 302 is releasably secured to wing module 306.

In an exemplary embodiment, a method of assembling a modular unmannedaerial vehicle (UAV) system comprises coupling a first rotor connectionmember of a rotor module to a body connection member of a body module.Referring to FIG. 2A, the body connection member 208 of the body module200 is releasably coupled to the first rotor connection member 228 asindicated by first arrow 252. In further embodiments, a first releasablecable connector joint 210 is coupled to a second releasable cableconnector joint 230. By connecting the first releasable cable connectorjoint 210 to the second releasable cable connector joint 230,communication between the body module and the rotor module isfacilitated. For example, this allows for communication between abattery located within or affixed to the body module, and electronicspeed controllers of the rotor module.

In further embodiments, as illustrated in FIG. 2B, the method ofassembly comprises releasably coupling a second rotor connection member232 to a wing connection member 244. This method may further comprisecoupling a third releasable cable connection joint 234 to a fourthreleasable cable connection joint 246. By coupling these releasablecable connections, communication is enabled between the rotor module 212and the wing module 236. In embodiments in which each of the wingmodule236, rotor module 212, and the body module 200 are releasablycoupled together, the connection of the respective releasable cableconnection joints allow for communication across all connected modules.For example, if the wing module is communicatively coupled to the rotormodule and the rotor module is communicatively coupled to the bodymodule, the body module would be able to communicate with and giveinstructions to the wing module.

Turning now to FIG. 4 , which provides an example flight arrangement 400using a plurality of UAVs. The example illustrated is one example of a“flight chain.” Flight arrangement 400 provides for advanced methods ofparcel delivery. As illustrated, in FIG. 4 , the flight arrangementincludes a plurality of UAVs 402A-402N. By using “402A-402N,” FIG. 4 isintended to illustrate that the plurality of UAVs in the flightarrangement can include any number. An aspect of the modular UAVsdescribed throughout this disclosure may be used. However, thisarrangement is not limited to modular UAV systems.

Here, each UAV of the plurality includes a tether, such as tether 404 ofUAV 402A. In an aspect, each UAV can have two tethers. Each tether isattached to its respective UAV at a joint. Examples of suitable jointsinclude ball, hinge, knuckle, turnbuckle, cotter, pivot, bolted, andscrew, among others. A tether can be attached at a front end of a UAV,at a back end of a UAV, or both, such as when two tethers are used. FIG.4 illustrates UAV 402A as having front end 406 and back end 408. Tethersmay be attached rotatably about a joint, which allows a first tetheredUAV to move independent of a second tethered UAV when tethered.

In some cases, tethers further comprise buses to permit communicationand power between UAVs of a UAV flight chain. As previously discussed,where multiple batteries are employed, battery power can be balancedduring operation of the UAVs. In other embodiments, specific UAVs of theUAV flight chain provide battery power across the flight chain. This maybe beneficial for UAVs of the flight chain that have short deliverydistances, allowing utilization of their battery power prior toutilizing battery power of UAVs that have relatively longer distances totravel when delivering parcels. That is, battery power of a first UAV ofthe flight chain can be used prior to the battery power of a second UAVof the flight chain, where the second UAV has a second deliverydestination that is a greater distance than a first delivery destinationof the first UAV. The buses may further allow communication between UAVsin addition to or in lieu of their wireless communication abilities.This may increase response time when the UAVs operate within the flightchain.

In an aspect where one tether is employed on a UAV, the tether isattached at the front end. Alternatively, the tether can be attached atthe back end. In an aspect where two tethers are employed, each tetheris attached at the front end and the back end.

When a single tether system is employed, each UAV further has a harnesspoint. The harness point includes a point at which a tether of anotherUAV releasably engages. By engaging the tether of one UAV with anotherUAV, a UAV flight chain is formed, such as the one shown in flightarrangement 400. In flight arrangement 400, UAV 402A comprises tether404 that is attached at back end 408 at a joint. Tether 404 is in anengaged position with UAV 402. Tether 404 can be released so that it isin a disengaged position. When releasably coupled to a harness point inan engaged position, tethers may be rotatable about the harness point.

When disengaged, the flight chain is broken and UAV 402A and UAV 402Bmay act independently, that is, they each may engage in asynchronousmovement and travel. When engaged, UAV 402A and UAV 402B performsynchronous movements and travel. By synchronous, it does not mean thateach performs an action at the same time, but rather, synchronousmovement acts to accomplish a single goal. For example, the flight chainmay receive instructions to turn left. Here, UAV 402A can begin to rolltoward the left, subsequently followed by UAV 402B rolling left. Whileeach does not roll left at the same time, each rolls in a manner toadvance the flight chain to move toward the left direction. This isconsidered synchronous movement. Thus, asynchronous movement may occurwhen movements do not act to accomplish the same task, for example, tomove in two different directions.

In the embodiment where UAVs include two tethers, each tether is securedto its respective UAV at a joint, while the opposite end includes aharness point. For example, a tether is secured to a UAV front end at afirst end of the tether. The tether extends from the first end to asecond end opposite the first end. The second end comprises the harnesspoint. Each harness point for UAVs in this embodiment releasably engagesto harness points of tethers on other UAVs.

Tethers can be disengaged from harness points during flight. In thisway, UAVs may navigate synchronously using a flight chain. They maydisengage individually or in groups to begin asynchronous movements.

Thus, UAV flight chains can be used in methods of delivering parcels. Inone method of tethered flight delivery. A plurality of UAVs is coupledusing tethers. The plurality includes two or more UAVs. The plurality ofUAVs forms the flight chain when coupled. Each UAV comprises a tether.In another embodiment, each UAV comprises two tethers. The tethers arecoupled to harness points. Each UAV may include a harness point forreleasably securing one of the tethers. In some cases, each tetherincludes a harness point to releasably secure each UAV to another UAV bysecuring a first harness point of a first tether to a second harnesspoint of a second tether.

The flight chain can be synchronously navigated from one location toanother over a distance. At any point, including during flight, one ormore of the tethers is disengaged at the harness point. In this way, oneUAV or a group of two or more UAVs is released from the UAV flightchain. When a group of UAVs is released as a single unit, it forms asecond flight chain. A UAV flight chain has several advantages overcurrent delivery methods. First, in a flight chain system, each of theUAVs may share energy among the other UAVs of the flight chain.Additionally, said flight chains are capable of being powered primarilyby the head UAV of the flight chain. In this embodiment, this reducesthe wear of the powertrain components of the other UAVs. UAV flightchains also provide the benefit of simplified flight path approvals andsimplified follow up of mission progress for the Civil AviationAuthorities. This is because the plurality of UAVs of the flight chaincan be treated as a single flying system while tethered.

Once released, the released UAV(s) (the single UAV, the group of UAVs,or the group of UAVs forming a single unit) can navigate asynchronouslywith respect to the flight chain from which it detached. Thus, thereleased UAV may navigate away from the flight chain to anotherlocation.

To deliver parcels, one or more parcels can be attached to the pluralityof UAVs. This may be done at a parcel carrier of the UAV. An example ofa parcel carrier suitable for use and methods of attaching parcels tothe parcel carrier are found in U.S. patent application Ser. No.15/582,168, entitled “Unmanned Aerial Vehicle Pick-Up and DeliverySystems,” now U.S. Pat. No. 9,969,495, which is hereby incorporated byreference in its entirety. A UAV may include more than one parcel, eachUAV of the flight chain may include one or more parcels, and some UAVsof the flight chain may not have an attached parcel. In one loadingmethod, parcels are attached to the UAVs to balance the flight chain.Relatively heavier parcels, that is, a parcel that has greater weightthan another parcel of the plurality, may be attached toward the centerof the flight chain. Lighter parcels are attached toward flight chainends. In one example, the lightest parcel of the plurality is attachedto an end UAV of the flight chain. A heaviest parcel is attached at acenter UAV of the flight chain, which can include either one of twocenter UAVs in flight chains that include an even number of UAVs.

With the attached parcels, the flight chain synchronously navigates overa first distance to a first location. When at the first location, one ormore of the UAVs is released from the flight chain, such that thereleased UAV(s) can asynchronously navigate with respect to the flightchain. The one or more UAVs are released from the flight chain byuncoupling tether units at harness points to disengage the tether units.

In some cases, a plurality of UAVs is released individually. In thiscase, each of the released UAVs asynchronously navigates with respect tothe other released UAVs. In another case, the plurality of UAVs isreleased as a single unit forming a second flight chain. The secondflight chain navigates asynchronously with respect to the first flightchain, e.g., the initial flight chain from which it was released. TheUAVs forming the second flight chain navigate synchronously with respectto each UAV of the second flight chain.

When released, the uncoupled UAV(s) navigate away from the UAV flightchain and toward a second location. At the second location, which caninclude a delivery location for one or more parcels associated with theuncoupled UAVs, the parcels are released.

Another method that may be performed by UAVs, including modular UAVs,includes a controlled descent to recharge a battery. For example, a UAVthat is in flight may recharge a battery by descending rapidly downward,allowing airflow to rotate its propellers, thus using an electric motorto recharge a battery.

This method can be used with UAV flight chains as well as with modularUAVs having at least one rotor module and one wing module, or two rotormodules. UAVs that expend battery power flying synchronously with otherUAVs in a flight chain can be released from the chain from an altitudeabove the ground. These UAVs can freefall in a controlled manner torecharge an on-board battery. As it approaches the ground, it mayutilize the remaining battery power gained from the controlled freefallto slow the UAV to a safe speed for landing.

In an exemplary embodiment, a method of tethered flight deliverycomprises coupling a plurality of unmanned aerial vehicles (UAVs) toform a UAV flight chain. Each of the plurality of UAVs comprise a tetherunit, and the UAVs are coupled together by engaging the tether units ofeach UAV to the tether units of the other UAVs. A plurality of parcelsare attached to the plurality of UAVs which form the UAV flight chain,and the UAV flight chain is navigated over a first distance to a firstlocation. Once the UAVs have arrived at a location proximate to thefirst location, a UAV is uncoupled from the UAV flight chain bydisengaging an engaged tether unit, the uncoupled UAV having a parcel ofthe plurality of parcels attached thereto. The uncoupled UAV isnavigated away from the UAV flight chain to a second location, and theparcel is released at the second location.

Turning now to FIG. 5 , an illustration of an example delivery methodusing a modular UAV is provided. Here, a modular UAV delivery system 500using a wing module 510, a body module 530, and a rotor module 520 isshown working in conjunction to deliver a parcel 540. In an embodiment,the wing module 510 can be self-propelled with a wing motor attached tothe wing module (not illustrated). In another embodiment, the wingmodule may act as a glider without the use of a self-propelling motor.

As previously discussed, the wing module 510 can be releasably securedto one or more of the body module 530 or the rotor module 520. In thisway, the system works in conjunction to deliver a parcel 540. In anexample method, the parcel 540 is secured to the body module 530 or thewing module 510. In a first arrangement, the wing module 510 is securedto the body module 530 or the rotor module 520 carrying the parcel 510.The combined system of the wing module 510, rotor module 520, and thebody module 530 is provided with instructions to deliver the parcel 540to a delivery location. The combined system navigates to the deliverylocation in accordance with the instructions.

At an altitude above the delivery location, the wing module 510 isreleased from the body module 530 and the rotor module 520 having theparcel 540, as indicated by arrow 550. After the release, the wingmodule 510 navigates, using its motor or by gliding, to an end locationwhere it may be retrieved. After the release, the body module 530 andthe rotor module 520 carrying the parcel 540 navigate to the deliverylocation and releases the parcel 540. In some cases, the rotor module520 and the body module 530 remain at the delivery location awaitingpickup. In an aspect, the body module 530 or the rotor module 520 emitsa navigational beacon that transmits its location, such as a GPSlocation signal. In this way, the modules may be retrieved, for example,by a delivery carrier. In another aspect, the body module 530 and therotor module 520 navigate away from the delivery location using a powersource (e.g., power source 207 of FIG. 2A) associated with the modules.The modules may navigate away to the same end location or may navigateaway to a second end location that is different from the first. Usingthis method, the wing module 510 may be navigated away from the deliverylocation prior to delivery of the parcel 540 in which the parcel 540 isreleased at the delivery location, while the rotor module 520 and thebody module 530 navigate away from the delivery location after deliveryof the parcel 540, in which the parcel 540 has been released at thedelivery location.

This method is beneficial because it provides the benefit of forwardflight along with the benefits of VTOL and enhanced navigation at lowaltitudes using the VTOL-style UAV. In an aspect, the wing module 510,because it is released at a high altitude, such as up to 400 ft, can useminimum power or glide to a location away from the delivery location. Itis lighter in weight without other modules, and therefore, may glideover significant distances. The body module 530 and the rotor module520, following the delivery, may navigate to the nearest carrier vehiclefor docking and return to the carrier.

With reference now to FIG. 6 , an example modular UAV system isprovided. The example modular UAV system of FIG. 6 is suitable for usewith an example cargo container 600. Cargo container 600 includesinterior area 602 and external case 604. A parcel can be partially orfully encased within interior area 602 by external case 604.

Cargo container 600 is illustrated as having battery 606 disposed withininterior area 602. While shown within interior area 602, it iscontemplated that battery 606 can be integrated within the constructionof cargo container 600 or coupled to external case 606. Battery 606communicates with other components of the modular UAV system, such as apower distribution device, through battery connection joint 608.

Cargo container 600 can be secured to any module of the modular UAVsystem. As discussed, one example method for securing cargo container600 includes a track-and-rail system. As illustrated in FIG. 6 , cargocontainer 600 includes rail 610 of the track-and-rail system. Rail 610can be used to secure cargo container 600 to rotor module 612, wingmodule 614, or body module 616. As described throughout, each of themodules of the modular UAV system can be arranged in variousconfigurations to perform particular tasks. Cargo container 600 can besecured to any of these configurations.

With reference now to method 700, an example method of deliveringparcels utilizing embodiments of a modular UAV system is provided. Atblock 710, a parcel is coupled to the modular UAV system. The UAV systemcan comprise any combination of a wing module, a rotor module, or a bodymodule. The wing module or rotor module may be independent, or mayinclude any combination of components for use in various modularconfigurations. The parcel may be coupled to the modular UAV system at aparcel carrier or a cargo container secured to any of the modules. Atblock 720, the modular UAV system is navigated to a delivery location.At block 730, a rotor module is released from a wing module of themodular UAV system at an altitude above the delivery location. At block740, the wing module is navigated away from the delivery location, whilethe rotor module is navigated to the delivery location. At block 750,the parcel is released at the delivery location by the rotor module andthe rotor module is navigated away from the delivery location.

FIG. 8 illustrates another example method of delivering parcels usingembodiments of a modular UAV system. At block 810, a plurality of UAVsis coupled to form a UAV flight chain. At block 820, a plurality ofparcels is coupled to the UAV flight chain. At block 830, the UAV flightchain is navigated to a first location. At block 840, a UAV having aparcel is uncoupled from the UAV flight chain. At block 850, theuncoupled UAV having the parcel is navigated to a second location wherethe parcel is released.

Referring now to FIG. 9 , in particular, an example computing device 900is provided. Computing device 900 should not be interpreted as havingany dependency or requirement relating to any one or combination ofcomponents illustrated.

The technology of the present disclosure may include a processorexecuting computer-executable instructions such as program modules,being executed by a computer or other machine, such as a personal dataassistant or other handheld device. Generally, program modules includingroutines, programs, objects, components, data structures, etc. refer tocode that perform particular tasks or implement particular abstract datatypes. The technology may be practiced in a variety of systemconfigurations, including hand-held devices, consumer electronics,general-purpose computers, more specialty computing devices, etc. Thetechnology may also be practiced in distributed computing environmentswhere tasks are performed by remote-processing devices that are linkedthrough a communications network.

With reference to FIG. 9 , computing device 900 includes bus 910 thatdirectly or indirectly couples the following devices: memory 912, one ormore processors 914, one or more presentation components 916,input/output ports 918, input/output components 920, illustrative powersupply 922, and one or more radios 924. Bus 910 represents what may beone or more busses (such as an address bus, data bus, or combinationthereof). Although the various blocks of FIG. 9 are shown with lines forthe sake of clarity, in reality, delineating various components is notso clear, and metaphorically, the lines would more accurately be greyand fuzzy. For example, one may consider a presentation component suchas a display device to be an I/O component. Also, processors havememory. We recognize that such is the nature of the art, and reiteratethat the diagram of FIG. 9 is merely illustrates an example computingdevice that can be used in connection with one or more embodiments ofthe present technology. Distinction is not made between such categoriesas “workstation,” “server,” “laptop,” “hand-held device,” etc., as allare contemplated within the scope of FIG. 9 and reference to “computingdevice.”

Computing device 900 typically includes a variety of computer-readablemedia. Computer-readable media can be any available media that can beaccessed by computing device 900 and includes both volatile andnonvolatile media, removable and non-removable media. By way of example,and not limitation, computer-readable media may comprise computerstorage media and communication media.

Computer storage media include volatile and nonvolatile, removable andnon-removable media implemented in any method or technology for storageof information such as computer-readable instructions, data structures,program modules or other data. Computer storage media includes, but isnot limited to, RAM, ROM, EEPROM, flash memory or other memorytechnology, CD-ROM, digital versatile disks (DVD) or other optical diskstorage, magnetic cassettes, magnetic tape, magnetic disk storage orother magnetic storage devices, or any other medium which can be used tostore the desired information and which can be accessed by computingdevice 900. Computer storage media excludes signals per se.

Communication media typically embodies computer-readable instructions,data structures, program modules or other data in a modulated datasignal such as a carrier wave or other transport mechanism and includesany information delivery media. The term “modulated data signal” means asignal that has one or more of its characteristics set or changed insuch a manner as to encode information in the signal. By way of example,and not limitation, communication media includes wired media such as awired network or direct-wired connection, and wireless media such asacoustic, RF, infrared and other wireless media. Combinations of any ofthe above should also be included within the scope of computer-readablemedia.

Memory 912 includes computer storage media in the form of volatile ornonvolatile memory. The memory may be removable, non-removable, or acombination thereof. Example hardware devices include solid-statememory, hard drives, optical-disc drives, etc. Computing device 900includes one or more processors that read data from various entitiessuch as memory 912 or I/O components 920. Presentation component(s) 916present data indications to a user or other device. Examples ofpresentation components include a display device, speaker, printingcomponent, vibrating component, etc.

I/O ports 918 allow computing device 900 to be logically coupled toother devices including I/O components 920, some of which may be builtin. Illustrative components include a microphone, joystick, game pad,satellite dish, scanner, printer, wireless device, etc.

Embodiments described above may be combined with one or more of thespecifically described alternatives. In particular, an embodiment thatis claimed may contain a reference, in the alternative, to more than oneother embodiment. The embodiment that is claimed may specify a furtherlimitation of the subject matter claimed.

The subject matter of the present technology is described withspecificity herein to meet statutory requirements. However, thedescription itself is not intended to limit the scope of thisdisclosure. Rather, the inventors have contemplated that the claimed ordisclosed subject matter might also be embodied in other ways, toinclude different steps or combinations of steps similar to the onesdescribed in this document, in conjunction with other present or futuretechnologies. Moreover, although the terms “step” or “block” might beused herein to connote different elements of methods employed, the termsshould not be interpreted as implying any particular order among orbetween various steps herein disclosed unless and except when the orderof individual steps is explicitly stated.

As used in this disclosure, the word “delivery” is intended to mean both“to drop off” and “to pickup,” unless one of the options isimpracticable. For example, a “delivery vehicle” is a vehicle capable ofpicking up a parcel and dropping off a parcel at a location. Words suchas “a” and “an,” unless otherwise indicated to the contrary, include theplural as well as the singular. Thus, for example, the constraint of “afeature” is satisfied where one or more features are present. Also, theterm “or” includes the conjunctive, the disjunctive, and both (a or bthus includes either a or b, as well as a and b).

From the foregoing, it will be seen that this technology is one welladapted to attain all the ends and objects described above, includingother advantages that are obvious or inherent to the structure. It willbe understood that certain features and subcombinations are of utilityand may be employed without reference to other features andsubcombinations. This is contemplated by and is within the scope of theclaims. Since many possible embodiments of the described technology maybe made without departing from the scope, it is to be understood thatall matter described herein or illustrated the accompanying drawings isto be interpreted as illustrative and not in a limiting sense.

What is claimed is:
 1. A modular unmanned aerial vehicle (UAV) system comprising: a body module comprising a flight controller and a body connection member; and a rotor module comprising a first rotor connection member and a rotor connection hub, the rotor connection hub comprising a plurality of arm sockets to accommodate a plurality of motor configurations for the UAV system, wherein: the body connection member removably couples to the first rotor connection member, and each motor configuration of the plurality of motor configurations comprises a unique set of one or more arms that removably connects to one or more of the plurality of arm sockets so that a motor coupled to each arm of the unique set of one or more arms is automatically identified and enabled by the flight controller.
 2. The UAV system of claim 1, wherein the unique set of one or more arms for each motor configuration of the plurality of motor configurations comprises a unique combination of at least one of a certain number of arms and motors or certain sizes of motors.
 3. The UAV system of claim 1, wherein: the body connection member comprises a first aspect of a releasable cable connection joint, the first rotor connection member comprises a second aspect of the releasable cable connection joint, and removably coupling the body connection member to the first rotor connection member connects that first aspect of the releasable cable connection joint to the second aspect of the releasable cable connection joint to establish communication between the flight controller and the unique set of one or more arms.
 4. The UAV system of claim 1, wherein at least one of the body module or the rotor module comprises a battery and the motor for each arm of the unique set of one or more arms is automatically powered by the battery.
 5. The UAV system of claim 1, wherein the rotor module comprises a plurality of electronic speed controllers, each electronic speed controller of the plurality of electronic speed controllers is paired with an arm socket of the one or more of the plurality of arm sockets to control a speed of the motor coupled to each arm of the unique set of one or more arms.
 6. The UAV system of claim 1 further comprising a wing module, the wing module comprising a wing connection member and a wing, wherein the rotor module comprises a second rotor connection member and the wing connection member removably couples to the second rotor connection member.
 7. The UAV system of claim 1 further comprising a wing module, the wing module comprising a wing connection member and a plurality of wing sockets to accommodate a plurality of wing configurations for the UAV system, wherein: the rotor module comprises a second rotor connection member and the wing connection member removably couples to the second rotor connection member, and each wing configuration of the plurality of wing configurations comprises a unique set of one or more wings that removably connects to one or more of the plurality of wing sockets so that the unique set of one or more wings is automatically identified and enabled by the flight controller.
 8. The UAV system of claim 7, wherein the unique set of one or more wings for each wing configuration of the plurality of wing configurations comprises a unique combination of at least one of a certain number of wings, certain sizes of wings, or certain designs of wings.
 9. The UAV system of claim 7, wherein at least one of the body module, the rotor module, or the wing module comprises a battery and the unique set of one or more wings is automatically powered by the battery.
 10. The UAV system of claim 7, wherein: the body connection member comprises a first aspect of a first releasable cable connection joint, the first rotor connection member comprises a second aspect of the first releasable cable connection joint, the second rotor connection member comprises a first aspect of a second releasable cable connection joint, the wing connection member comprises a second aspect of the second releasable cable connection joint, and removably coupling the body connection member to the first rotor connection member and removably coupling the second rotor connection member to the wing connection member connects that first aspect of the first releasable cable connection joint to the second aspect of the first releasable cable connection joint and the first aspect of the second releasable cable connection joint to the second aspect of the second releasable cable connection joint to establish communication between the flight controller and the unique set of one or more wings.
 11. A modular unmanned aerial vehicle (UAV) system comprising: a body module comprising a flight controller; and a rotor module comprising a plurality of arm sockets to accommodate a plurality of motor configurations for the UAV system, wherein: the body module couples to the rotor module, and each motor configuration of the plurality of motor configurations comprises a unique set of one or more arms that removably connects to one or more of the plurality of arm sockets so that a motor coupled to each arm of the unique set of one or more arms is automatically identified and enabled by the flight controller.
 12. The UAV system of claim 11, wherein the unique set of one or more arms for each motor configuration of the plurality of motor configurations comprises a unique combination of at least one of a certain number of arms and motors or certain sizes of motors.
 13. The UAV system of claim 11, wherein: the body module comprises a first aspect of a releasable cable connection joint, the rotor module comprises a second aspect of the releasable cable connection joint, and coupling the body module to the rotor module connects that first aspect of the releasable cable connection joint to the second aspect of the releasable cable connection joint to establish communication between the flight controller and the unique set of one or more arms.
 14. The UAV system of claim 11, wherein the rotor module comprises a plurality of electronic speed controllers, each electronic speed controller of the plurality of electronic speed controllers is paired with an arm socket of the one or more of the plurality of arm sockets to control a speed of the motor coupled to each arm of the unique set of one or more arms.
 15. The UAV system of claim 11 further comprising a wing module, the wing module comprising a plurality of wing sockets to accommodate a plurality of wing configurations for the UAV system, wherein: the wing module couples to the rotor module, and each wing configuration of the plurality of wing configurations comprises a unique set of one or more wings that removably connects to one or more of the plurality of wing sockets so that the unique set of one or more wings is automatically identified and enabled by the flight controller.
 16. The UAV system of claim 15, wherein the unique set of one or more wings for each wing configuration of the plurality of wing configurations comprises a unique combination of at least one of a certain number of wings, certain sizes of wings, or certain designs of wings.
 17. The UAV system of claim 15, wherein: the body module comprises a first aspect of a first releasable cable connection joint, the rotor module comprises a second aspect of the first releasable cable connection joint, the rotor module comprises a first aspect of a second releasable cable connection joint, the wing module comprises a second aspect of the second releasable cable connection joint, and coupling the body module to the rotor module and coupling the rotor module to the wing module connects that first aspect of the first releasable cable connection joint to the second aspect of the first releasable cable connection joint and the first aspect of the second releasable cable connection joint to the second aspect of the second releasable cable connection joint to establish communication between the flight controller and the unique set of one or more wings.
 18. A method of assembling a modular unmanned aerial vehicle (UAV) system, the method comprising: coupling a first rotor connection member of a rotor module of the UAV system to a body connection member of a body module of the UAV system, wherein: the body module comprises a flight controller, the rotor module comprises a rotor connection hub that comprises a plurality of arm sockets to accommodate a plurality of motor configurations for the UAV system, and each motor configuration of the plurality of motor configurations comprises a unique set of one or more arms that removably connects to one or more of the plurality of arm sockets so that a motor coupled to each arm of the unique set of one or more arms is automatically identified and enabled by the flight controller.
 19. The method of claim 18 further comprising connecting the unique set of one or more arms for a particular motor configuration of the plurality of motor configurations to one or more particular arm sockets of the plurality of arm sockets.
 20. The method of claim 18 further comprising coupling a second rotor connection member of the rotor module to a wing connection member of a wing module of the UAV system, wherein: the wing module comprises a plurality of wing sockets to accommodate a plurality of wing configurations for the UAV system, and each wing configuration of the plurality of wing configurations comprises a unique set of one or more wings that removably connects to one or more of the plurality of wing sockets so that the unique set of one or more wings is automatically identified and enabled by the flight controller. 